In this paper we propose a multi-modal behavior planning framework for guide robots, to better assist the visually impaired to select safe paths in a cluttered space. Most prior robotic guiding systems only use physical contact, limiting their ability from operating in narrow and cluttered environments. Our multi-modal behavior planning framework is based on the Social Force Model(SFM) and the Monte Carlo Tree Search(MCTS). The proposed framework extracts robot behaviors' impact as the social force on human and predicts human motion, then employs the MCTS to search best multi-modal behavior policy. The proposed approach is deployed on a humanoid robot to guide a blind-folded person to safely travel in a complicated space.
{"title":"A Multi-modal Behavior Planning Framework for Guide Robot","authors":"Zonghao Mu, Wei Fang, Shiqiang Zhu, Tianlei Jin, Wei Song, Xiangming Xi, Qiulan Huang, J. Gu, Songyu Yuan","doi":"10.1109/ROBIO55434.2022.10011739","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011739","url":null,"abstract":"In this paper we propose a multi-modal behavior planning framework for guide robots, to better assist the visually impaired to select safe paths in a cluttered space. Most prior robotic guiding systems only use physical contact, limiting their ability from operating in narrow and cluttered environments. Our multi-modal behavior planning framework is based on the Social Force Model(SFM) and the Monte Carlo Tree Search(MCTS). The proposed framework extracts robot behaviors' impact as the social force on human and predicts human motion, then employs the MCTS to search best multi-modal behavior policy. The proposed approach is deployed on a humanoid robot to guide a blind-folded person to safely travel in a complicated space.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124537142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011877
Qingling Duan, Qi Zhang, Zhiyuan Liu, Y. Ou
Thanks to high spatial resolution and multi-tactile mode perception, visual-tactile sensing technology has been widely used in various robot operations such as active perception, pose estimation and in-palm operation. However, the pattern as an essential part of the optic tactile sensor has rarely been studied. Therefore, this paper investigated the effect of the different patterns on the resolution of the visual-tactile sensors. The silicone sensors with different densities and sizes and cameras integrate different tactile sensors, collect the sensor stress data in different situations, and process the data with deep learning models. The performance of the prediction forces of different patterns was evaluated by the root mean square error (RMSE). The results show that the proposed four patterns can decouple the normal and shear forces, and the force resolution of the semi-sparse pattern is better than the other pattern designs. Furthermore, the grad-cam method is used to obtain the focus of the deep learning model decoupling forces, showing that the semi-sparse pattern tends to cover the whole image because it has better performance.
{"title":"Effect of pattern on the resolution of the visual-tactile sensor","authors":"Qingling Duan, Qi Zhang, Zhiyuan Liu, Y. Ou","doi":"10.1109/ROBIO55434.2022.10011877","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011877","url":null,"abstract":"Thanks to high spatial resolution and multi-tactile mode perception, visual-tactile sensing technology has been widely used in various robot operations such as active perception, pose estimation and in-palm operation. However, the pattern as an essential part of the optic tactile sensor has rarely been studied. Therefore, this paper investigated the effect of the different patterns on the resolution of the visual-tactile sensors. The silicone sensors with different densities and sizes and cameras integrate different tactile sensors, collect the sensor stress data in different situations, and process the data with deep learning models. The performance of the prediction forces of different patterns was evaluated by the root mean square error (RMSE). The results show that the proposed four patterns can decouple the normal and shear forces, and the force resolution of the semi-sparse pattern is better than the other pattern designs. Furthermore, the grad-cam method is used to obtain the focus of the deep learning model decoupling forces, showing that the semi-sparse pattern tends to cover the whole image because it has better performance.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132023454","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011826
Yang Luo, Xiyu Zhu, Yuchuan Zhou, You Li, Zhihui Xu, Yan Wei, Wende Ke, Chengzhi Hu
Autonomous Underwater Vehicle (AUV), also called autonomous underwater robot, refers to an underwater robot that can independently complete tasks such as autonomous navigation, autonomous obstacle avoidance, and autonomous operation without human intervention. In some complex and narrow detection scenarios, autonomous underwater robots need to have a small volume, a high level of autonomy, and good maneuverability. Here, we design a miniature autonomous underwater robot driven by propellers, which integrates a high-performance processor, camera module, high-precision inertial measurement unit (IMU), etc. The attitude and position information of the robot is obtained in real-time through the IMU, and the processor controls the motion state of the six propellers, achieving the motion in six degrees of freedom in space. The highly integrated design ensures the maximum length of the whole machine within 15 cm, the 3-way PID controller design ensures an efficient and stable attitude control, and the high-performance processor provides more possibilities for target tracking and recognition. The developed AUV in this study shows superior navigation performance through narrow passages.
{"title":"Development of Autonomous Underwater Robot for Navigation through Narrow Passages","authors":"Yang Luo, Xiyu Zhu, Yuchuan Zhou, You Li, Zhihui Xu, Yan Wei, Wende Ke, Chengzhi Hu","doi":"10.1109/ROBIO55434.2022.10011826","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011826","url":null,"abstract":"Autonomous Underwater Vehicle (AUV), also called autonomous underwater robot, refers to an underwater robot that can independently complete tasks such as autonomous navigation, autonomous obstacle avoidance, and autonomous operation without human intervention. In some complex and narrow detection scenarios, autonomous underwater robots need to have a small volume, a high level of autonomy, and good maneuverability. Here, we design a miniature autonomous underwater robot driven by propellers, which integrates a high-performance processor, camera module, high-precision inertial measurement unit (IMU), etc. The attitude and position information of the robot is obtained in real-time through the IMU, and the processor controls the motion state of the six propellers, achieving the motion in six degrees of freedom in space. The highly integrated design ensures the maximum length of the whole machine within 15 cm, the 3-way PID controller design ensures an efficient and stable attitude control, and the high-performance processor provides more possibilities for target tracking and recognition. The developed AUV in this study shows superior navigation performance through narrow passages.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134183226","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011690
Dongfang Li, Gang Chen, Yingzhuo Fu, Wenqian Xu
Aiming at space manipulator with joint torque partial loss failure, a motion capability analysis method is proposed based on entropy method. First, the joint torque partial loss failure model is established. Then the failure model is substituted into the kinematic and dynamic model of the manipulator to obtain the model of space manipulator with joint torque partial loss failure. Indexes are constructed and globalized based on the kinematic and dynamic model to characterize the kinematic dexterity and the dynamic load-carrying capability of the faulty manipulator. Finally, the comprehensive motion capability index is constructed using entropy method. Simulation experiment is performed to analyze the influence of the faulty joint angle on the comprehensive motion capability of the manipulator.
{"title":"Motion Capability Analysis of Space Manipulator with Joint Torque Partial Loss Failure based on Entropy Method *","authors":"Dongfang Li, Gang Chen, Yingzhuo Fu, Wenqian Xu","doi":"10.1109/ROBIO55434.2022.10011690","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011690","url":null,"abstract":"Aiming at space manipulator with joint torque partial loss failure, a motion capability analysis method is proposed based on entropy method. First, the joint torque partial loss failure model is established. Then the failure model is substituted into the kinematic and dynamic model of the manipulator to obtain the model of space manipulator with joint torque partial loss failure. Indexes are constructed and globalized based on the kinematic and dynamic model to characterize the kinematic dexterity and the dynamic load-carrying capability of the faulty manipulator. Finally, the comprehensive motion capability index is constructed using entropy method. Simulation experiment is performed to analyze the influence of the faulty joint angle on the comprehensive motion capability of the manipulator.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133495400","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011935
Weilin Li, Jing Wu, C. Long
This paper takes the dual water jet propulsion USV as the research object, and studies formation obstacle avoidance optimization problem. An integrative APF algorithm is proposed to merge path planning and trajectory tracking into one optimization problem, where adaptive searching step is adopted to guarantee that the planned trajectory is reachable. In addition, a distance-triggered codesign of integrative APF and MPC is presented to maintain formation during the obstacle avoidance process. Finally, the results in MATLAB simulation demonstrate the validity and efficiency of the algorithm.
{"title":"Formation Control for Unmanned Surface Vehicles Based on Integrative APF and MPC","authors":"Weilin Li, Jing Wu, C. Long","doi":"10.1109/ROBIO55434.2022.10011935","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011935","url":null,"abstract":"This paper takes the dual water jet propulsion USV as the research object, and studies formation obstacle avoidance optimization problem. An integrative APF algorithm is proposed to merge path planning and trajectory tracking into one optimization problem, where adaptive searching step is adopted to guarantee that the planned trajectory is reachable. In addition, a distance-triggered codesign of integrative APF and MPC is presented to maintain formation during the obstacle avoidance process. Finally, the results in MATLAB simulation demonstrate the validity and efficiency of the algorithm.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133682213","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011852
Sheng-An Yang, K. Lai
Patch clamp is an essential technique for studying cellular properties by ion channel currents. However, the issue of coupled cells recordings remains a challenge. In this paper, we have developed a dual arm microrobot for automated performing synchronized electrophysiological recording of coupled cells. The microrobot is actuated by micromanipulator and patch clamp. Each arm has one time-synchronized measurement channel to independently implement electrophysiological recording. The recording processes are algorithmically controlled by our predictive model. Based on the physiological characterizations of ion channels and synapses, we have designed protocols for the microrobot to collect recordings. The protocols consist of voltage clamp of step, voltage clamp of pulse and current clamp of pulse. We propose blocking rate, jitter, and current index to illustrate synaptic transmission direction, and evaluate synaptic performance within a framing of computationalization. To validate the ability of the dual arm microrobot, HEK 293 cells were cultured into coupled cells and uncoupled cells to carry out the experiments. With the protocols, we demonstrate the developed system can be utilized to indicate the properties of synapse fast and convenient. The integration of computational and mathematical approaches provides a key insight into evaluating synaptic performance.
{"title":"Development of a Dual Arm Microrobot for Electrophysiological Recording","authors":"Sheng-An Yang, K. Lai","doi":"10.1109/ROBIO55434.2022.10011852","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011852","url":null,"abstract":"Patch clamp is an essential technique for studying cellular properties by ion channel currents. However, the issue of coupled cells recordings remains a challenge. In this paper, we have developed a dual arm microrobot for automated performing synchronized electrophysiological recording of coupled cells. The microrobot is actuated by micromanipulator and patch clamp. Each arm has one time-synchronized measurement channel to independently implement electrophysiological recording. The recording processes are algorithmically controlled by our predictive model. Based on the physiological characterizations of ion channels and synapses, we have designed protocols for the microrobot to collect recordings. The protocols consist of voltage clamp of step, voltage clamp of pulse and current clamp of pulse. We propose blocking rate, jitter, and current index to illustrate synaptic transmission direction, and evaluate synaptic performance within a framing of computationalization. To validate the ability of the dual arm microrobot, HEK 293 cells were cultured into coupled cells and uncoupled cells to carry out the experiments. With the protocols, we demonstrate the developed system can be utilized to indicate the properties of synapse fast and convenient. The integration of computational and mathematical approaches provides a key insight into evaluating synaptic performance.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132965044","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011706
Hangxuan He, Mengzhen Huo, H. Duan, Chen Wei
The collective behavior of groups of birds has attracted researchers' attention by its fascinating patterns when escaping threats or hunting preys. This paper addresses the attack-defense decision making of unmanned combat aerial vehicles (UCAVs) inspired by the mechanisms of Harris Hawks hunting preys and pigeons defending predators. A predator-prey based dynamics is adopted to guide two adversarial teams of UCAVs separately. The roles of attackers and defenders are determined according to a situation function and two different kinds of decision making approaches are proposed, which are inspired from Harris Hawks hunting behavior and pigeons defending behavior, respectively. It is the first time to our knowledge to study the combat decision-making problem from the predator-prey perspective and the simulation results show the feasibility of the proposed approaches.
{"title":"Harris' Hawk and Pigeon Inspired Attack-Defense Decision Making in Unmanned Combat Aerial Vehicles","authors":"Hangxuan He, Mengzhen Huo, H. Duan, Chen Wei","doi":"10.1109/ROBIO55434.2022.10011706","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011706","url":null,"abstract":"The collective behavior of groups of birds has attracted researchers' attention by its fascinating patterns when escaping threats or hunting preys. This paper addresses the attack-defense decision making of unmanned combat aerial vehicles (UCAVs) inspired by the mechanisms of Harris Hawks hunting preys and pigeons defending predators. A predator-prey based dynamics is adopted to guide two adversarial teams of UCAVs separately. The roles of attackers and defenders are determined according to a situation function and two different kinds of decision making approaches are proposed, which are inspired from Harris Hawks hunting behavior and pigeons defending behavior, respectively. It is the first time to our knowledge to study the combat decision-making problem from the predator-prey perspective and the simulation results show the feasibility of the proposed approaches.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133057078","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Real-time UAV pose estimation at low altitudes is a necessary but challenging task for auto-landing, especially onto fluctuated aquatic surface platforms. To reduce the power and payload requirement for UAVs, pose estimation by the surface platform is an alternative. This paper presents a multi-camera system with compensation algorithms for that scenario. An accurate extrinsic calibration enables multi-camera collaboration to extend the system's field of view and improve its stability, which is inherently resistant to the issue of target-out-of-sight, motion blur effect, and over-exposure. Meanwhile, a compensation algorithm with Kalman Filter is applied to eliminate the negative effect of the image processing time and algorithm calculation delay, significantly improving the real-time performance of the system. A set of indoor and outdoor experiments validate the effectiveness of the proposed method, in which the measurement error is decreased by 50%.
{"title":"Design of a Multi-camera System with Compensation Algorithms for Real-time UAV Pose Estimation in Landing","authors":"Xuanyang Xu, Chongfeng Liu, Ruoyu Xu, Huihuan Qian","doi":"10.1109/ROBIO55434.2022.10011849","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011849","url":null,"abstract":"Real-time UAV pose estimation at low altitudes is a necessary but challenging task for auto-landing, especially onto fluctuated aquatic surface platforms. To reduce the power and payload requirement for UAVs, pose estimation by the surface platform is an alternative. This paper presents a multi-camera system with compensation algorithms for that scenario. An accurate extrinsic calibration enables multi-camera collaboration to extend the system's field of view and improve its stability, which is inherently resistant to the issue of target-out-of-sight, motion blur effect, and over-exposure. Meanwhile, a compensation algorithm with Kalman Filter is applied to eliminate the negative effect of the image processing time and algorithm calculation delay, significantly improving the real-time performance of the system. A set of indoor and outdoor experiments validate the effectiveness of the proposed method, in which the measurement error is decreased by 50%.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132726436","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011786
Zechao Wang, Mingyuan Wang, Jianjun Yuan, Shiqiang Wang, Liang Du, Sheng Bao, Weiwei Wan
Pipe robots can replace workers to work in harsh environments. Generally, most of the existing pipe robots can only move in pipes with constant diameters, but cannot move in pipes with variable diameters. To this end, we propose a permanent-magnet wheeled pipe robot. We introduce a differential mechanism as well as a slide block and slide rail structure so that the robot can move on the pipe with variable diameters. Firstly, the CAD model is established by SOLIDWORKS, the self-adaptive diameter-variable mechanism of the robot is analyzed, and the applicable pipe diameter range is obtained. Then we use MATLAB to carry out numerical analysis and obtain the relationship of the attraction force of the magnetic wheel. Finally, the MAXWELL module in the ANSYS ELECTRONICS software is used to simulate the magnetic wheel. Through simulation, we obtain the curve of magnetic field strength and the attraction force of the magnetic wheel. The hypothesis of our theory is tested.
{"title":"Structural design and analysis of a permanent-magnet wheeled pipe robot with pipe diameter adaption capability","authors":"Zechao Wang, Mingyuan Wang, Jianjun Yuan, Shiqiang Wang, Liang Du, Sheng Bao, Weiwei Wan","doi":"10.1109/ROBIO55434.2022.10011786","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011786","url":null,"abstract":"Pipe robots can replace workers to work in harsh environments. Generally, most of the existing pipe robots can only move in pipes with constant diameters, but cannot move in pipes with variable diameters. To this end, we propose a permanent-magnet wheeled pipe robot. We introduce a differential mechanism as well as a slide block and slide rail structure so that the robot can move on the pipe with variable diameters. Firstly, the CAD model is established by SOLIDWORKS, the self-adaptive diameter-variable mechanism of the robot is analyzed, and the applicable pipe diameter range is obtained. Then we use MATLAB to carry out numerical analysis and obtain the relationship of the attraction force of the magnetic wheel. Finally, the MAXWELL module in the ANSYS ELECTRONICS software is used to simulate the magnetic wheel. Through simulation, we obtain the curve of magnetic field strength and the attraction force of the magnetic wheel. The hypothesis of our theory is tested.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132889759","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Exoskeleton robots are now prevalent in hand rehabilitation medical training, and they can effectively drive a variety of rehabilitative movements in a hand that has lost its motor ability. To adapt to the hand's physiological structure and motion characteristics, a hybrid-driven exoskeleton hand based on tendon rope and linkage and its validation experiments are proposed in this paper. The exoskeleton hand can assist one to five fingers independently or even assist a joint alone. Wearing the robot retains the physiological touch of the hand to the maximum extent, which is beneficial to rehabilitation. In addition, patients can also carry out rehabilitation training independently, and the control mode is simple and practical. To verify whether the exoskeleton can reach the grip standard of healthy hands, the Leap Motion Controller is also used to conduct experimental verification of finger movement wearing the exoskeleton. The results show that the maximum average differences between the angles of the finger flexion motion joints (MCP and PIP) with and without the exoskeleton are 10.33 degrees and 11.06 degrees. It was verified that the exoskeleton could meet the requirements of finger flexion and extension for assisted motion within a specific error range.
{"title":"Development and evaluation of a hand exoskeleton for finger rehabilitation*","authors":"Haiyi Luo, Zhenyu Sun, Xiaobei Jing, Bairui Shu, Shixiong Chen, Xu Yong, H. Yokoi","doi":"10.1109/ROBIO55434.2022.10011966","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011966","url":null,"abstract":"Exoskeleton robots are now prevalent in hand rehabilitation medical training, and they can effectively drive a variety of rehabilitative movements in a hand that has lost its motor ability. To adapt to the hand's physiological structure and motion characteristics, a hybrid-driven exoskeleton hand based on tendon rope and linkage and its validation experiments are proposed in this paper. The exoskeleton hand can assist one to five fingers independently or even assist a joint alone. Wearing the robot retains the physiological touch of the hand to the maximum extent, which is beneficial to rehabilitation. In addition, patients can also carry out rehabilitation training independently, and the control mode is simple and practical. To verify whether the exoskeleton can reach the grip standard of healthy hands, the Leap Motion Controller is also used to conduct experimental verification of finger movement wearing the exoskeleton. The results show that the maximum average differences between the angles of the finger flexion motion joints (MCP and PIP) with and without the exoskeleton are 10.33 degrees and 11.06 degrees. It was verified that the exoskeleton could meet the requirements of finger flexion and extension for assisted motion within a specific error range.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114767272","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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